Carrying robot for assisting aircraft assembly

Abstract

The utility model discloses a transfer robot for assisting aircraft assembly, which belongs to the technical field of transfer robots and comprises a transfer base, one end of the transfer base is fixedly connected with a support table, and the top of the support table is rotatably connected with a support column; according to the device, the clamping mechanism is arranged, a visual sensor is used for recognizing and measuring a part, then an external control system is used for controlling a stabilizing plate to be adjusted to a proper clamping position and angle according to a measurement result, and then the clamping mechanism is used for driving the stabilizing plate and a buffer column to get close to each other to clamp the aircraft part; and the other end of the buffer column is tightly attached to and abuts against the aircraft component all the time, so that the stability of clamping and fixing the aircraft component can be further improved, the situation that the aircraft component deviates or shakes in the carrying process is avoided, the carrying stability and safety are further improved, and the adaptability and practicability of the robot are improved. And the robot can adapt to aircraft components of various models and specifications.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of carrying robots for assisting aircraft assembly, belong to carrying robot technical field. BACKGROUND

[0002] In the field of aircraft assembly, the volume of parts is huge, heavy and complex in shape, and the precision, flexibility and carrying capacity of the carrying equipment are required, traditional manual carrying or simple hoisting equipment is difficult to meet the demand, manual carrying is not only inefficient, but also due to high-precision aircraft parts, positioning deviation is easy to produce due to fatigue, affect assembly quality, there is a security risk, therefore, it needs to use the carrying robot of auxiliary assembly to carry quickly.

[0003] Carrying robot usually has high load capacity, and also has good environmental adaptability, can walk stably in complex ground and special environment, and further improves carrying efficiency and assembly precision through multi-machine collaborative operation, their application not only improves the efficiency and quality of aircraft assembly, but also reduces the labor intensity and production cost.

[0004] Some existing carrying robots for aircraft assembly, although improve carrying efficiency to some extent, but still have many problems, when carrying large size, irregular shape aircraft parts, it is difficult to ensure the stability of parts, easy to shake even fall, cause damage to parts, and aircraft assembly operation usually uses splint and other end effector to clamp and carry parts, but there are many types of parts, covering large thin-walled sheet, complex shape structural parts and precision electronic components, therefore, single end effector is difficult to realize effective grabbing and accurate operation, therefore, the present application provides a kind of carrying robot for assisting aircraft assembly. UTILITY MODEL CONTENT

[0005] The utility model aims at the deficiencies of prior art, provide a kind of carrying robot for assisting aircraft assembly, to reach the purpose of the stability of different regular size aircraft parts, avoid its shaking even falling.

[0006] In order to further realize the above-mentioned purpose, the following technical solutions are specifically adopted:

[0007] The utility model provides a handling robot for assisting aircraft assembly, including handling base, one end fixedly connected with support station of handling base, the top rotatory connection of support station has the support column, the outer wall rotatory arrangement of support column has the mechanical arm, one end rotatory arrangement of mechanical arm has the connecting column, the bottom of connecting column is provided with the connecting block, the bottom symmetrical slip of connecting block is provided with the firm board, the inside installation of connecting block is used for the clamping mechanism of stabilizing aircraft accessory, the inside installation of connecting column is used for the limiting mechanism of replacing connecting block, the outer wall installation of handling base has the auxiliary mechanism, the bottom installation of handling base has a plurality of motorized wheels.

[0008] Preferably, the clamping mechanism includes a bidirectional screw rod rotatably connected through the inside of the connecting block, one end of the connecting block is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with one end of the bidirectional screw rod, the top end of each of the two firm boards is fixedly connected with an adjusting plate, and each of the two adjusting plates is threadedly connected with the bidirectional screw rod.

[0009] Preferably, the inside of the connecting block is fixedly connected with a guide rod, and each end of the guide rod away from the bidirectional screw rod is slidably connected with the two adjusting plates.

[0010] Preferably, the opposite faces of the two firm boards are each provided with a plurality of sliding grooves, a plurality of buffer columns are slidably connected inside the plurality of sliding grooves, a plurality of springs are fixedly connected inside the plurality of sliding grooves, and each end of the plurality of springs is fixedly connected with one end of the buffer column and the inner wall of the sliding groove, respectively.

[0011] Preferably, one side of the connecting block is fixedly connected with a visual sensor.

[0012] Preferably, the limiting mechanism includes a fixed column fixedly connected to the top of the connecting block, a clamping groove matching in size with the fixed column is formed at the bottom end of the connecting column, grooves are formed on both sides of the clamping groove, a connecting rod is slidably connected through the grooves, a handle is fixedly connected to one end of the connecting rod, a limiting block is fixedly connected to the end of the connecting rod away from the handle, the limiting block is slidably connected in the groove, and limiting grooves matching in size with the limiting block are formed on both sides of the fixed column.

[0013] Preferably, a spring is sleeved on the outer wall of the connecting rod, and each end of the spring is fixedly connected with the inner wall of the groove and one end of the limiting block, respectively.

[0014] Preferably, the auxiliary mechanism includes a laser radar fixedly connected to the front, back, left, and right sides of the handling base, an ultrasonic sensor is fixedly connected to each of the front, back, left, and right sides of the handling base, and an air bag is fixedly connected to each of the front, back, left, and right sides of the handling base.

[0015] Beneficial effects:

[0016] 1. The application is provided with a clamping mechanism, the parts are identified and measured through a vision sensor, then the stable plate is adjusted to the appropriate clamping position and angle through the external control system according to the measurement results, and then the clamping mechanism drives the stable plate and the buffer column to approach each other to clamp the aircraft parts, so that the other end of the buffer column is always in close contact with the aircraft parts, which can further improve the stability of the aircraft parts clamping and fixing, avoid the aircraft parts from shifting or shaking during the carrying process, further improve the stability and safety of the carrying process, improve the adaptability and practicality of the robot, and make the robot adapt to aircraft parts of various types and specifications.

[0017] 2. The application is provided with a limiting mechanism and an auxiliary mechanism, by pulling the limiting mechanism, the connection between the connecting column and the connecting block is disconnected, so that the connecting block and the stable plate are quickly removed and replaced with appropriate end effectors such as vacuum cups, so that the corresponding operation mode can be used for grabbing and carrying according to the type and shape of the parts, which significantly improves the adaptability of the robot to different assembly tasks, and the auxiliary mechanism can monitor personnel and obstacles within a certain range around the robot in real time, once potential collision risks are detected, the robot will immediately slow down or stop, and the air bag can also provide buffer protection around the robot to avoid accidents and ensure the safety, stability and efficiency of the carrying process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the clamping mechanism in the utility model;

[0020] Figure 3 It is a bottom view of the clamping mechanism in the utility model;

[0021] Figure 4 It is a sectional view of the stable plate in the utility model;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the limiting mechanism in the utility model;

[0023] Figure 6 It is Figure 5 the enlarged view of A in the utility model.

[0024] In the figure: 1, carrying base; 2, support table; 3, support column; 4, mechanical arm; 5, connecting column; 6, connecting block; 7, stabilizing plate; 8, electric wheel; 9, bidirectional screw; 10, servo motor; 11, adjusting plate; 12, guide rod; 13, sliding groove; 14, buffer column; 15, spring one; 16, visual sensor; 17, fixed column; 18, clamping groove; 19, groove; 20, connecting rod; 21, handle; 22, limiting block; 23, limiting groove; 24, spring two; 25, laser radar; 26, ultrasonic sensor; 27, air bag. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0026] Please refer to Figures 1-6 As shown in the figure, a carrying robot for assisting aircraft assembly comprises a carrying base 1, one end of the carrying base 1 is fixedly connected with a support table 2, the top of the support table 2 is rotatably connected with a support column 3, the outer wall of the support column 3 is rotatably provided with a mechanical arm 4, one end of the mechanical arm 4 is rotatably provided with a connecting column 5, the bottom end of the connecting column 5 is provided with a connecting block 6, the bottom of the connecting block 6 is symmetrically slidably provided with a stabilizing plate 7, the connecting block 6 is internally mounted with a clamping mechanism for stabilizing aircraft accessories, the connecting column 5 is internally mounted with a limiting mechanism for replacing the connecting block 6, the outer wall of the carrying base 1 is mounted with an auxiliary mechanism, and the bottom of the carrying base 1 is mounted with a plurality of electric wheels 8.

[0027] The auxiliary mechanism comprises laser radars 25 fixedly connected on the front, rear, left and right four sides of the carrying base 1, ultrasonic sensors 26 fixedly connected on the front, rear, left and right four sides of the carrying base 1, and air bags 27 fixedly connected on the front, rear, left and right four sides of the carrying base 1.

[0028] When it is necessary to assemble aircraft parts such as wings, engines, etc., first, the operator inputs the shape, size, carrying starting point and ending point, etc. of the part through the external controller, and then the carrying robot receives the task instruction, and can plan a safe and efficient carrying path through the surrounding environment information sensed by the laser radar 25 and the ultrasonic sensor 26, and start the electric wheel 8 to drive the robot to move to the storage position of the aircraft part, and after reaching the storage position, the aircraft part can be placed on the top surface of the carrying base 1, and then the clamping mechanism is adjusted to the appropriate clamping position and angle through the external control system, and then the clamping mechanism is moved to the side of the aircraft part through the operation of the support column 3 and the mechanical arm 4, at this time the clamping mechanism can be started to quickly clamp the aircraft part, through the clamping mechanism the robot can always ensure the stability of the part, reduce the risk of shaking or even falling, avoid damage to the part, and when the aircraft part is clamped stably, the electric wheel 8 can be continued to be controlled to drive the robot to carry the part to the assembly station according to the predetermined path, and in the moving process, the laser radar 25 and the ultrasonic sensor 26 can monitor the personnel and obstacles within a certain range around the robot in real time, once the potential collision risk is detected, the robot will immediately slow down or stop, and the air bag 27 set can also buffer and protect the robot around, avoid accidents, ensure the safety, stability and efficiency of the carrying process, through the above operation, the robot can realize high-precision positioning and stable carrying when carrying large-size, irregular parts, avoid part shaking and falling, meet the high-precision requirements of aircraft assembly for part carrying, improve the assembly quality, at the same time form an automatic and intelligent assembly process, reduce manual intervention, improve production efficiency and management level.

[0029] In addition, when carrying some thin or fragile aircraft parts such as plates, etc., clamping by the clamping mechanism may cause damage to the aircraft parts, at this time the connecting column 5 and the connecting block 6 can be pulled to release the connection between them, so that the connecting block 6 and the stabilizing plate 7 are quickly removed, and appropriate end effectors such as vacuum suction cups are replaced, so that different types and shapes of parts can be grasped and carried according to the operation mode, which significantly improves the adaptability of the robot to different assembly tasks.

[0030] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4The clamping mechanism comprises a bidirectional screw rod 9 penetratingly connected inside the connecting block 6, a servo motor 10 fixedly connected at one end of the connecting block 6, the output end of the servo motor 10 fixedly connected with one end of the bidirectional screw rod 9, two adjusting plates 11 fixedly connected at the top ends of the two stable plates 7, the two adjusting plates 11 threadedly connected with the bidirectional screw rod 9, a guide rod 12 fixedly connected inside the connecting block 6, and the two adjusting plates 11 slidingly connected with the guide rod 12 at the ends away from the bidirectional screw rod 9.

[0031] The opposite faces of the two stable plates 7 are provided with a plurality of sliding grooves 13, the sliding grooves 13 are slidingly connected with a plurality of buffer columns 14, the sliding grooves 13 are fixedly connected with a plurality of springs 15, and the two ends of the springs 15 are fixedly connected with the buffer columns 14 and the inner walls of the sliding grooves 13, respectively.

[0032] In use, first, the components are identified and measured by the visual sensor 16, then the stable plates 7 are adjusted to the appropriate clamping position and angle by the external control system according to the measurement results, then the clamping mechanism can be moved to the side of the aircraft component by the operation of the support column 3 and the mechanical arm 4, at this time, the servo motor 10 can be started to drive the bidirectional screw rod 9 to rotate, at this time, according to the rotation of the bidirectional screw rod 9, the two adjusting plates 11 can be driven to move closer to each other on the bidirectional screw rod 9 under the guidance of the guide rod 12, so that the two stable plates 7 are gradually moved closer to each other by the two adjusting plates 11, until the two stable plates 7 contact the two sides of the aircraft component, and as the two stable plates 7 move closer to each other, the plurality of buffer columns 14 on the opposite faces of the two stable plates 7 can respectively abut against the two sides of the aircraft component, at this time, under the action of the elastic force of the springs 15, the one ends of the buffer columns 14 can slide in the sliding grooves 13, and the other ends of the buffer columns 14 can always tightly abut against the aircraft component, so that the stability of clamping and fixing the aircraft component can be further improved, the aircraft component can be prevented from deviating or shaking during the carrying process, the stability and safety of the carrying process can be further improved, and since the plurality of buffer columns 14 tightly abut against the aircraft component, no matter the size specification of the aircraft component, the plurality of buffer columns 14 can abut against the aircraft component, the adaptability and practicality of the robot can be further improved, and the robot can adapt to aircraft components of various models and specifications.

[0033] Referring to Figure 1 , Figure 5 and Figure 6The limiting mechanism comprises a fixed column 17 fixedly connected to the top of the connecting block 6, a clamping groove 18 of a size matching the fixed column 17 is formed at the bottom end of the connecting column 5, recesses 19 are formed at both sides of the clamping groove 18, a connecting rod 20 is slidably connected in the recesses 19, a handle 21 is fixedly connected to one end of the connecting rod 20, a limiting block 22 is fixedly connected to the end of the connecting rod 20 away from the handle 21, the limiting block 22 is slidably connected in the recesses 19, limiting grooves 23 of a size matching the limiting block 22 are formed at both sides of the fixed column 17, a spring 24 is sleeved on the outer wall of the connecting rod 20, and both ends of the spring 24 are fixedly connected with the inner wall of the recesses 19 and one end of the limiting block 22 respectively, and the spring 24 is located in the recesses 19.

[0034] In use, first, the handles 21 can be pulled to the two sides respectively to drive the connecting rod 20 to slide in the recesses 19, at this time, the movement of the connecting rod 20 will drive the limiting block 22 to gradually draw out from the limiting grooves 23 and enter the recesses 19, so as to release the connection between the connecting column 5 and the connecting block 6, quickly remove the connecting block 6 and the stable plate 7, and replace a suitable end effector, such as a vacuum chuck, so that the robot can adopt a corresponding operation mode for grabbing and carrying according to the type and shape of the parts, and the adaptability of the robot to different assembly tasks is significantly improved.

[0035] As a technical optimization scheme of the utility model: when need to assemble the aircraft parts, such as wing, engine etc., first, the operator inputs the shape, size, carrying starting point and end point etc. information of the part through external controller, then after the carrying robot receives the task instruction, it can plan a safe and efficient carrying path through the surrounding environment information perceived by laser radar 25 and ultrasonic sensor 26, and start the operation of electric wheel 8 to drive the robot to move to the storage position of the aircraft part, after reaching the storage position, the aircraft part can be placed on the top surface of carrying base 1, then the part is identified and measured through visual sensor 16, then the external control system controls the adjustment of stable plate 7 to the appropriate clamping position and angle according to the measurement results, then the supporting column 3 and mechanical arm 4 can be operated to drive the clamping mechanism to move to the side of the aircraft part, at this time, the servo motor 10 can be started to rotate the bidirectional screw rod 9, at this time, according to the rotation of bidirectional screw rod 9, two adjusting plates 11 can be driven to move closer to each other on bidirectional screw rod 9 under the guidance of guide rod 12, so that two stable plates 7 are gradually moved closer to each other through two adjusting plates 11, until two stable plates 7 contact the two sides of the aircraft part, and with the mutual approach of two stable plates 7, multiple buffer columns 14 on the opposite side of two stable plates 7 can be in contact with the two sides of the aircraft part, at this time, under the action of the spring force of spring one 15, the one end of buffer column 14 can slide in the sliding groove 13, and the other end of buffer column 14 can always be in close contact with the aircraft part, so as to further improve the stability of clamping and fixing the aircraft part, avoid the offset or shaking of the aircraft part during carrying, further improve the stability and safety of carrying, and because multiple buffer columns 14 are in close contact with the aircraft part, no matter the size specification of the aircraft part, multiple buffer columns 14 can be in contact with the aircraft part, further improve the adaptability and practicality of the robot, so that the robot can adapt to aircraft parts of various models and specifications.

[0036] When the aircraft part is clamped and stabilized, the electric wheel 8 can be further controlled to drive the robot to carry the part to the assembly station according to the predetermined path, and during the movement, the laser radar 25 and ultrasonic sensor 26 can monitor the personnel and obstacles within a certain range around the robot in real time, once the potential collision risk is detected, the robot will slow down or stop immediately, and the air bag 27 can also provide buffer protection around the robot to avoid accidents and ensure the safety, stability and efficiency of the carrying process, through the above operation, the robot can realize high-precision positioning and stable carrying when carrying large-size irregular parts, avoid part shaking and falling, meet the high-precision requirements of aircraft assembly for part carrying, improve the assembly quality, form automatic and intelligent assembly process, reduce manual intervention, improve production efficiency and management level;

[0037] In addition, when some thin or fragile aircraft parts such as plates are transported, clamping by the clamping mechanism may cause damage to the aircraft parts, at this time, the handles 21 can be pulled to the two sides respectively to drive the connecting rod 20 to slide inside the groove 19, at this time, the movement of the connecting rod 20 will drive the limiting block 22 to gradually draw out from the limiting groove 23 and enter the groove 19, so as to release the connection between the connecting column 5 and the connecting block 6, quickly remove the connecting block 6 and the stabilizing plate 7, and replace the appropriate end effector such as a vacuum chuck, so that the robot can adopt the corresponding operation mode for grabbing and transporting according to the type and shape of the parts, and the adaptability of the robot to different assembly tasks is significantly improved.

[0038] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0039] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A handling robot for assisting in the assembly of an aircraft, comprising a handling base (1), characterised in that: The carrying base (1) one end is fixedly connected with a support table (2), the support table (2) top is rotatably connected with a support column (3), the support column (3) outer wall rotatably provided with a mechanical arm (4), the mechanical arm (4) one end rotatably provided with a connecting column (5), the connecting column (5) bottom is provided with a connecting block (6), the connecting block (6) bottom is symmetrically slidably provided with a stable plate (7), the connecting block (6) inside is mounted with the clamping mechanism for stabilizing the aircraft accessories, the connecting column (5) inside is mounted with the limiting mechanism for replacing the connecting block (6), the carrying base (1) outer wall is installed with auxiliary mechanism, the carrying base (1) bottom is installed with a plurality of electric wheels (8).

2. A handling robot for assisting in the assembly of an aircraft as claimed in claim 1, characterised in that: The clamping mechanism includes a bidirectional screw rod (9) rotatably connected inside the connecting block (6), one end of the connecting block (6) is fixedly connected with a servo motor (10), the output end of the servo motor (10) is fixedly connected with one end of the bidirectional screw rod (9), the top of the two stable plates (7) is fixedly connected with an adjusting plate (11), and the two adjusting plates (11) are threadedly connected with the bidirectional screw rod (9).

3. A handling robot for assisting in the assembly of an aircraft as claimed in claim 2, characterised in that: The connecting block (6) is fixedly connected with a guide rod (12) inside, and the two adjusting plates (11) are slidably connected with the guide rod (12) away from one end of the bidirectional screw rod (9).

4. A handling robot for assisting aircraft assembly as defined in claim 1, characterized in that: The opposite surfaces of the two stable plates (7) are each provided with a plurality of sliding grooves (13), a plurality of buffer columns (14) are slidably connected inside the sliding grooves (13), a plurality of springs (15) are fixedly connected inside the sliding grooves (13), and the two ends of the plurality of springs (15) are respectively fixedly connected with one end of the buffer column (14) and the inner wall of the sliding groove (13).

5. A handling robot for assisting aircraft assembly as defined in claim 1, characterized in that: The connecting block (6) is fixedly connected with a visual sensor (16) on one side.

6. A handling robot for assisting aircraft assembly as defined in claim 1, characterized in that: The limiting mechanism includes a fixed column (17) fixedly connected to the top of the connecting block (6), a clamping groove (18) matching in size with the fixed column (17) is formed in the bottom end of the connecting column (5), recesses (19) are formed on both sides of the clamping groove (18), a connecting rod (20) is slidably connected through the recesses (19), a handle (21) is fixedly connected to one end of the connecting rod (20), a limiting block (22) is fixedly connected to the end of the connecting rod (20) away from the handle (21), the limiting block (22) is slidably connected in the recess (19), and limiting grooves (23) matching in size with the limiting block (22) are formed on both sides of the fixed column (17).

7. A handling robot for assisting with aircraft assembly as claimed in claim 6, characterised in that: The outer wall of the connecting rod (20) is sleeved with a spring (24), and the two ends of the spring (24) are respectively fixedly connected with the inner wall of the recess (19) and one end of the limiting block (22).

8. A handling robot for assisting aircraft assembly as defined in claim 1, characterized in that: The auxiliary mechanism includes a laser radar (25) fixedly connected to the front, rear, left and right four sides of the carrying base (1), an ultrasonic sensor (26) is fixedly connected to the front, rear, left and right four sides of the carrying base (1), and an air bag (27) is fixedly connected to the front, rear, left and right four sides of the carrying base (1).

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